/********************************************************************************
 * Copyright 2009 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#include "SpherePoseSampler.hpp"

using namespace rw::kinematics;
using namespace rw::math;
using namespace rwsim::util;

SpherePoseSampler::SpherePoseSampler (MovableFrame* mframe, const Vector3D<>& wPc,
                                      State& initState) :
    _mframe (mframe),
    _wPc (wPc), _initState (initState)
{}

SpherePoseSampler::~SpherePoseSampler ()
{}

void SpherePoseSampler::setRPYNoiseBound (const rw::math::RPY<>& low, const rw::math::RPY<>& upper)
{}

void SpherePoseSampler::setPosNoiseBound (const rw::math::Vector3D<>& low,
                                          const rw::math::Vector3D<>& upper)
{}

bool SpherePoseSampler::sample (State& state)
{
    return true;
}

bool SpherePoseSampler::empty () const
{
    return false;
}
